CN115189297B - Power wire and cable peeling equipment based on double-arm robot - Google Patents

Abstract

The invention relates to the technical field of wire and cable processing equipment, and particularly provides power wire and cable stripping equipment based on a double-arm robot; the equipment is arranged between two mechanical arms of the double-arm robot and comprises a fixed base, wherein a first supporting plate and a second supporting plate are arranged on the fixed base; a dial-up feeding device is fixedly assembled on the first supporting plate, a primary driving conveying mechanism is assembled on the dial-up feeding device, and a secondary driving conveying mechanism and a peeling knife mechanism are assembled on the second supporting plate; the equipment provided by the invention is used for peeling the cable based on the double-arm robot, so that the dependence on manual operation can be reduced, the integral automatic operation degree is improved, and the peeling treatment efficiency is improved.

Description

Power wire and cable peeling equipment based on double-arm robot

Technical Field

The invention relates to the technical field of wire and cable processing equipment, and particularly provides power wire and cable stripping equipment based on a double-arm robot.

Background

Waste power wire and cable can regard as old and useless resource recovery processing generally, only need can classify the recovery with the plastic layer separation that the inside wire of cable and outside were wrapped up in promptly, when recovery processing, generally adopt the mode of skinning to make plastic layer and wire separation, under the prior art, can process the cable with the help of the cable splitter that skins.

The invention patent with publication number CN105826874B discloses a screw type longitudinal peeling tool for cables, which comprises a blade and a wire clamping part mounted on a tool rest, wherein a wire clamping space for clamping the cable is enclosed by a blade edge of the blade and the wire clamping part, the blade edge can cut the cable sheath along the radial direction and the longitudinal direction of the cable, and the size of the wire clamping space is adjusted by a locking device so that the blade cuts into the cable sheath.

The cutter can only be used for simply and longitudinally peeling the cable, namely, the sheath of the cable can only be longitudinally cut, manual feeding and blanking are required during peeling, the unpowered structural design ensures that the cable needs to be pulled by means of external force or manual pulling in the peeling process to complete peeling, the automation degree is low, in addition, the complete peeling of the sheath and the wire core cannot be realized in the peeling process due to the simple longitudinal peeling operation, the wire core and the sheath are separated by means of fixing the sheath and pulling the wire core, and generally, the peeling operation of the cable cannot be well realized by the aid of the peeling cutter only, the dependence on manual work is greatly reduced, and the automation of the operation is improved.

Therefore, the invention provides a power wire and cable stripping device based on a double-arm robot, which is used for solving the technical problems in the prior art in the process of stripping, classifying and recycling the power wire and cable.

Disclosure of Invention

In order to solve the above problems, the present invention provides a power wire and cable stripping apparatus based on a two-arm robot, which solves the above problems mentioned in the background art.

In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose: a power wire and cable peeling device based on a double-arm robot is arranged between two mechanical arms of the double-arm robot and comprises a fixed base, wherein a first supporting plate and a second supporting plate are arranged on the fixed base; a dial-up feeding device is fixedly assembled on the first supporting plate; the dial-up feeding device comprises a central cylinder which is horizontally installed and used for collecting cables in a centralized manner in the cylinder, one side cylinder end of the central cylinder is open, the other side cylinder end of the central cylinder is fixedly provided with a disc back plate, the disc back plate is fixed on a first supporting plate, a guide groove is arranged at the right upper end of the outer side wall of the central cylinder, the guide groove axially penetrates from the open end of the central cylinder to extend to the disc back plate, a blanking gap is arranged at the right lower end of the side wall of the central cylinder, and a cable stirring mechanism used for promoting the cables collected in the central cylinder to penetrate through the blanking gap through stirring is assembled on the disc back plate; the disc back plate is fixedly provided with a dial-up conveying mechanism arranged on the periphery of the central cylinder, the dial-up conveying mechanism comprises a dial-up drum coaxially driven to rotate around the central shaft of the central cylinder, and the dial-up drum is used for driving a cable penetrating through the blanking notch to be dialed into the guide groove; and a skinning knife mechanism is assembled on the second supporting plate, a driving feeding mechanism is assembled between the poking and feeding device and the skinning knife mechanism, and when skinning treatment is performed, the driving feeding mechanism drives the cable which is poked and rotated to the guide groove to be conveyed to the skinning knife mechanism to complete skinning.

Preferably, a peeling avoiding hole is horizontally arranged on the second supporting plate opposite to the guide groove, a lower supporting guide groove beam is horizontally and fixedly connected between the first supporting plate and the second supporting plate, and two ends of the lower supporting guide groove beam are respectively arranged opposite to the through hole of the guide groove on the disc back plate and the peeling avoiding hole.

Preferably, the cable stirring mechanism comprises a stirring motor fixedly arranged on the outer end face of the disc back plate, a rotary disc fixed on an output shaft of the stirring motor and a stirring rod vertically fixed on the surface of the rotary disc; the turntable is located within the central cylinder.

Preferably, the driving and feeding mechanism comprises a first-stage driving and feeding mechanism and a second-stage driving and feeding mechanism, the first-stage driving and feeding mechanism is fixed on the disc back plate and located above the guide groove, and the second-stage driving and feeding mechanism is fixed on the second support plate and located above the lower support guide groove beam.

Preferably, the poking rotary drum comprises a main poking rotary drum and an auxiliary poking rotary drum coaxially and fixedly mounted with the main poking rotary drum, the main poking rotary drum is close to the disc back plate, two ends of the main poking rotary drum are oppositely provided with four groups of material clamping gaps with U-shaped structures, the four groups of material clamping gaps are uniformly distributed in the circumferential direction of the main poking rotary drum, and a position avoiding window is arranged on the side wall of the main poking rotary drum between the two material clamping gaps.

Preferably, the inner wall of the auxiliary poking rotary drum is provided with four material supporting grooves extending to two ends along the axial direction, the four material supporting grooves and the four groups of material clamping gaps are arranged in a one-to-one correspondence manner, and the outlines of the material supporting grooves at opposite positions coincide with the outlines of the material clamping gaps.

Preferably, the dial-up conveying mechanism further comprises a rotary bearing fixedly mounted on the disc back plate, one end of the main dial-up cylinder is fixedly connected to a rotating part of the rotary bearing, and a dial-up driving motor for driving the rotary bearing to rotate is fixedly mounted on the first supporting plate.

Preferably, the skinning knife mechanism comprises a lifting adjusting component fixedly mounted on a second support plate, the lifting adjusting component comprises a probation 21274plate which moves in a lifting manner, the front surface of the open end of the probation 21274plate faces upwards, the probation 21274plate is horizontally and symmetrically provided with adjustable skinning knife components distributed at two sides of the skinning avoiding hole, the adjustable skinning knife components comprise skinning knives which can horizontally move and be adjusted in a direction vertical to the guide direction of the lower support guide groove beam, and the cutting edges of the skinning knives are horizontally arranged and face the second support plate.

Preferably, the skinning knife is a mirror symmetry structure which is symmetrical about a horizontal plane, and the upper end surface of the skinning knife is gradually raised from the cutting edge along the vertical direction extending height far away from the second support plate surface.

Preferably, the upper end surface and the lower end surface of the skinning knife are symmetrically provided with L-shaped material limiting plates, the material limiting plates are close to one end far away from the cutting edge of the skinning knife, the material limiting plates positioned on the upper end surface are arranged in an inverted mode, and bayonets of the material limiting plates face the skinning knife on the other side.

The technical scheme has the following advantages or beneficial effects: 1. the invention provides a power wire and cable peeling device based on a double-arm robot, which is used for peeling a cable based on the double-arm robot, and is assembled between two mechanical arms of the double-arm robot, wherein the mechanical arm on one side can be used for rolling and feeding the cable, and the mechanical arm on the other side can be used for completely peeling the cable in cooperation with the device, and can be used for tidying the peeled cable.

2. The invention provides power wire and cable peeling equipment based on a double-arm robot, which adopts the matched conveying of a primary driving feeding mechanism and a secondary driving feeding mechanism, namely two pressing contact conveying points for a cable are provided, so that the pushing force for the cable can be increased, the peeling treatment is facilitated, the cable in conveying can be horizontally pushed and conveyed along a lower support guide groove beam, and the situation that the front end of the cable is tilted and cannot be aligned with a peeling treatment end is prevented.

3. The invention provides a power wire and cable peeling device based on a double-arm robot, which has a large peeling structural design, can enable a half-and-half peeled plastic wrapping layer of a cable to be peeled off completely and better, and can carry out conveying limiting guide on the peeled plastic wrapping layer.

Drawings

The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings, in which like numerals refer to like parts throughout the several views and which are not necessarily drawn to scale, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic perspective view of a power wire and cable stripping device based on a two-arm robot according to the present invention at a viewing angle.

Fig. 2 is a schematic perspective view of the power wire and cable stripping device based on the two-arm robot in another view angle.

Fig. 3 is a partially enlarged schematic view at a in fig. 1.

Fig. 4 is a partially enlarged schematic view at B in fig. 2.

Fig. 5 is a top view of the power wire and cable stripping device based on the double-arm robot provided by the invention.

Fig. 6 is a cross-sectional view of C-C in fig. 5.

Fig. 7 is a left side view of the power wire and cable stripping device based on the double-arm robot provided by the invention.

Fig. 8 is a right side view of the power wire and cable stripping apparatus based on the double-arm robot according to the present invention.

In the figure: 1. a fixed base; 11. a first support plate; 12. a second support plate; 121. peeling and avoiding holes; 13. a lower supporting guide groove beam; 2. a material shifting and feeding device; 21. a central cylinder; 211. a disk back plate; 212. blanking gaps; 213. a guide groove; 22. a cable agitation mechanism; 221. a stirring motor; 222. a turntable; 223. a stirring rod; 23. a dial-up conveying mechanism; 231. a slew bearing; 2311. a rotary gear ring; 232. a dial-up drive motor; 2321. a drive gear; 233. poking the rotary drum; 234. a main poking rotary drum; 2341. a material clamping gap; 2342. a position avoiding window; 235. an auxiliary poking rotary drum; 2351. a material supporting groove; 3. a first-stage driving feeding mechanism; 31. a support frame; 32. a first lifting cylinder; 33. a first feeding motor; 331. a driving pulley; 34. a roller frame; 35. driving the clamping roller; 351. a driven pulley; 36. a drive belt; 4. a secondary drive feeding mechanism; 41. a vertical guide frame; 411. a vertical guide rail; 42. a second lifting cylinder; 43. a lifting roller frame; 44. a second feeding motor; 45. a driving toothed roller; 451. conical teeth; 5. a skinning knife mechanism; 51. a lift adjustment assembly; 511. a third lifting cylinder; 512. \ 21274; 52. an adjustable barking blade assembly; 521. adjusting the screw rod; 522. a guide bar; 523. a skinning knife; 5231. and a material limiting plate.

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for the purpose of providing those skilled in the art with a more complete, accurate and thorough understanding of the concept and technical solution of the present invention, and to facilitate the implementation thereof, but not to limit the present invention.

As shown in fig. 1, 2, 6 and 7, a power wire and cable stripping device based on a double-arm robot is arranged between two mechanical arms of the double-arm robot, and comprises a fixing base 1, wherein a first support plate 11 and a second support plate 12 are arranged on the fixing base 1; the first supporting plate 11 is fixedly provided with a dial-up feeding device 2, the dial-up feeding device 2 comprises a central cylinder 21 which is horizontally installed and used for collecting cables in the cylinder in a centralized mode, one cylinder end of one side of the central cylinder 21 is open, the other cylinder end of the other side of the central cylinder 21 is welded with a disc back plate 211, the edge of the disc back plate 211 protrudes relative to the side wall of the central cylinder 21, the disc back plate 211 is welded on the first supporting plate 11, the right upper end of the outer side wall of the central cylinder 21 is provided with a guide groove 213, the guide groove 213 axially penetrates through and extends to the disc back plate 211 from the open end of the central cylinder 21, the right lower end of the side wall of the central cylinder 21 is provided with a blanking notch 212, and a cable stirring mechanism 22 used for promoting the cables collected in the central cylinder 21 to penetrate through the blanking notch 212 through stirring is assembled on the disc back plate 211; the cable stirring mechanism 22 comprises a stirring motor 221 fixedly arranged on the outer end face of the disc back plate 211 through bolts, a rotary disc 222 fixed on the output shaft of the stirring motor 221 through bolts, and a stirring rod 223 vertically welded on the disc face of the rotary disc 222; the turntable 222 is located within the central cylinder 21; in order to make the disk surface of the rotating disk 222 as a limiting surface of the end part of the cable collected in the central cylinder 21, the rotating disk 222 is arranged close to the disk back plate 211, the edge of the rotating disk 222 is in rotating contact with the inner wall of the central cylinder 21, in addition, one side of the stirring rod 223 is arranged flush with the edge of the rotating disk 222, in order to make the cable well fall into the blanking gap 212, the length of the axial extension of the blanking gap 212 from the open end of the central cylinder 21 at least reaches the position aligned with the disk surface facing outwards of the rotating disk 222, and in the embodiment, the extension length of the blanking gap 212 is just flush with the outward disk surface of the rotating disk 222.

As shown in fig. 1, fig. 2, fig. 3, fig. 6 and fig. 7, the dial conveying mechanism 23 disposed at the periphery of the central cylinder 21 is fixedly assembled on the circular disc back plate 211, the dial conveying mechanism 23 includes a dial drum 233 coaxially driven to rotate around the central axis of the central cylinder 21, and the dial drum 233 is used for driving the cable passing through the blanking gap 212 to dial into the guide groove 213; the poking rotary drum 233 comprises a main poking rotary drum 234 and an auxiliary poking rotary drum 235 coaxially welded with the main poking rotary drum 234, the main poking rotary drum 234 is close to the disc back plate 211, two ends of the main poking rotary drum 234 are oppositely provided with four groups of U-shaped material clamping gaps 2341, the four groups of material clamping gaps 2341 are uniformly distributed in the circumferential direction of the main poking rotary drum 234, and a position avoiding window 2342 is arranged on the side wall of the main poking rotary drum 234 between each two material clamping gaps 2341; four material supporting grooves 2351 extending to two ends along the axial direction are arranged on the inner wall of the auxiliary poking and rotating cylinder 235, the four material supporting grooves 2351 and the four groups of material blocking gaps 2341 are arranged in a one-to-one correspondence manner, and the outline of the material supporting grooves 2351 in the opposite positions is coincided with the outline of the material blocking gaps 2341.

As shown in fig. 1, fig. 2, fig. 3, fig. 6 and fig. 7, the dial conveying mechanism 23 further includes a rotary bearing 231 welded on the disc back plate 211, one end of the main dial drum 234 is welded on a rotating part of the rotary bearing 231, a rotary gear ring 2311 is fixedly mounted on the rotating part of the rotary bearing 231 through a bolt, a dial driving motor 232 is fixedly mounted on the first support plate 11 through a bolt, and a driving gear 2321 meshed with the rotary gear ring 2311 is fixedly mounted on an output shaft of the dial driving motor 232. It should be noted that, the driving gear 2321 is driven to rotate by starting the dial driving motor 232, the driving gear 2321 can drive the dial barrel 233 to rotate by driving the rotary gear ring 2311, in order to keep a material supporting groove 2351 and a group of material blocking gaps 2341 in relative positions with the material blanking gaps 212, in this embodiment, the dial driving motor 232 is an existing servo motor with a self-locking structure, and the dial driving motor 232 dials the rotary barrel to intermittently rotate for a quarter of a turn each time and the rotary barrel is always in the position state shown in fig. 1 after each intermittent rotation is suspended.

In the process of actually peeling the cable, the poking and conveying device 2 can be used for poking and conveying the peeled cable one by one, the situation that the peeled cable needs to be placed on a peeling working position one by one in the processing process is avoided, the time consumed by feeding is reduced, the feeding conveying efficiency is improved, concretely, the poking and conveying device 2 is close to the position of one mechanical arm of a double-arm robot, before formal peeling processing, the mechanical arm at the position can replace manual work to actively plug bundled cables placed on a nearby table top into the central cylinder 21, and one end of the bundled cables is in aligned contact with the disc surface of the rotary disc 222. In the peeling process, the dial-up feeding device 2 performs dial-up conveying on pre-plugged cables one by one, specifically, in the dial-up conveying process, the stirring motor 221 is always kept in a starting working state, the stirring motor 221 can drive the turntable 222 to rotate, the stirring rod 223 rotates synchronously with the turntable 222, the stirring rod 223 can circumferentially stir bundles of cables plugged into the central cylinder 21, the rotating cylinder is enabled to pause in every intermittent rotation, when one of the material supporting grooves 2351 is positioned right below the material falling gap 212, one of the cables randomly penetrates through the material falling gap 212 and falls into the material supporting groove 2351, it needs to be noted that the material supporting groove 2351 only can accommodate one cable with a proper diameter, the cables falling into the material supporting groove 2351 are also positioned in two material blocking gaps 2341 in a group of opposite positions, then, under two times of intermittent starting rotation of the dial-up barrel 233, the cables are stirred to fall into the guiding groove 213, so that the cables are aligned with the position to be peeled, and it needs to be noted that the length of the auxiliary dial-up drum 235 is equal to the length of the main dial-up cable, and the length of the auxiliary dial-up drum 235 is enough to ensure that the length of the rotating cylinder 2351 can not be separated from the rotating cylinder 2351 in the rotating cylinder 234.

As shown in fig. 1, fig. 2, fig. 5 and fig. 6, a driving feeding mechanism is assembled between the dial-over feeding device 2 and the skinning knife mechanism 5, and when the skinning process is performed, the driving feeding mechanism drives the cable which is dialed into the guide groove 213 to be conveyed to the skinning knife mechanism 5 to complete skinning. A peeling and avoiding hole 121 is horizontally arranged on the second support plate 12 opposite to the guide groove 213, a lower support guide groove beam 13 is horizontally welded between the first support plate 11 and the second support plate 12, two ends of the lower support guide groove beam 13 are respectively arranged opposite to the through hole of the guide groove 213 on the disc back plate 211 and the peeling and avoiding hole 121, and the notch outline of the lower support guide groove beam 13 is superposed with the notch outline of the guide groove 213; the driving feeding mechanism comprises a first-stage driving feeding mechanism 3 and a second-stage driving feeding mechanism 4, the first-stage driving feeding mechanism 3 is fixed on the disc back plate 211 and located above the guide groove 213, and the second-stage driving feeding mechanism 4 is fixed on the second support plate 12 and located above the lower support guide groove beam 13.

As shown in fig. 1 and fig. 3, the primary driving feeding mechanism 3 includes a supporting frame 31 welded on the top end of the circular disc back plate 211, a first lifting cylinder 32 is vertically and fixedly mounted on the top end of the supporting frame 31 through a bolt, a first feeding motor 33 is horizontally and fixedly connected to an output end of the first lifting cylinder 32, a driving pulley 331 is fixed on an output shaft of the first feeding motor 33, a bottom end of the first feeding motor 33 is fixedly connected with a roller frame 34 through a bolt, a driving clamping roller 35 is horizontally and rotatably mounted on the roller frame 34, a driven pulley 351 is fixedly connected to an axial end of the driving clamping roller 35, the driven pulley 351 is in transmission connection with the driving pulley 331 through a transmission belt 36, the driving clamping roller 35 is located right above the guiding groove 213, and the axial direction of the guiding groove 213 is perpendicular to the guiding direction. The outline of the slot opening of the guide slot 213 is an inverted isosceles trapezoid structure, and a slot with the isosceles trapezoid structure is arranged on the driving card roller 35 in a cutting manner.

After a cable to be stripped is conveyed into the guide groove 213 by the dial-up feeding device 2, the cable needs to be driven to pass through the disc back plate 211 and conveyed into the lower support guide groove beam 13 by the primary driving feeding mechanism 3, specifically, the first feeding motor 33 is started to drive the driving belt wheel 331 to rotate, the driving belt wheel 331 drives the driven belt wheel 351 by the driving belt 36 to enable the driving card roller 35 to synchronously rotate along with the driving card roller 35, then the first lifting cylinder 32 is started to drive the first feeding motor 33, the roller frame 34 and the driving card roller 35 to integrally descend, so that the clamping groove of the driving card roller 35 is clamped on the cable, then the cable passes through the disc back plate 211 and is conveyed towards the lower support guide groove beam 13 by the rotation of the driving card roller 35, it should be noted that the descending stroke of the first lifting cylinder 32 is determined by the diameter of the cable, that is after the cable with a specific diameter is positioned in the guide groove beam 213, the driving card roller 35 is in a suitable clamping state for the cable under the descending driving of the lifting cylinder 35 under the descending stroke before the actual processing.

As shown in fig. 3, 4 and 6, the profile of the slot opening of the lower tray guideway beam 13 is also an inverted isosceles trapezoid structure, and the lower tray guideway beam 13 has a guiding function for the conveyed cable and can horizontally support the cable; second grade drive feeding mechanism 4 towards one side fixed mounting of backup pad 11 on No. two backup pads 12, second grade drive feeding mechanism 4 is located and holds in the palm guide way roof beam 13 directly over down, second grade drive feeding mechanism 4 is including welding vertical leading truck 41 on No. two backup pads 12, vertical leading truck 41's top has No. two lift cylinders 42 through the vertical fixed mounting of bolt, sliding fit installs lift roller frame 43 on vertical leading truck 41, lift roller frame 43 top is through the output of bolt fastening at No. two lift cylinders 42, horizontal rotation installs drive fluted roller 45 on lift roller frame 43, one side fixed mounting of lift roller frame 43 has output shaft and No. two feeding motor 44 of drive fluted roller 45 axle head fixed connection, drive fluted roller 45 edge circumference evenly distributed is provided with twenty awl teeth 451.

After the cables are conveyed into the lower supporting guide groove beam 13 by the primary driving feeding mechanism 3, the cables are continuously conveyed in a relay manner by the secondary driving feeding mechanism 4 positioned above the lower supporting guide groove beam 13, and the primary driving feeding mechanism 3 and the secondary driving feeding mechanism 4 are adopted for matched conveying, namely two pressing contact conveying points for the cables are provided, so that the pushing force for the cables can be increased, the peeling treatment is facilitated, meanwhile, the cables in conveying can be horizontally pushed and conveyed along the lower supporting guide groove beam 13, and the situation that the front ends of the cables are tilted and cannot be aligned with the peeling treatment end is prevented; specifically, the second feeding motor 44 is started to drive the driving toothed roller 45 to rotate, under the conveying of the first-stage driving feeding mechanism 3, the cable passes below the driving toothed roller 45 under the guiding of the lower support guide groove beam 13, the conical teeth 451 are inserted into the outer plastic coating layer of the cable, and the cable is driven to convey forwards by force and passes through the peeling avoiding hole 121; before the formal peeling treatment, as with the first-stage driving feeding mechanism 3, the height of the driving toothed roller 45 needs to be adjusted according to the diameter of the cable to be peeled, that is, the second lifting cylinder 42 is started to drive the lifting roller frame 43, the second feeding motor 44 and the driving toothed roller 45 to ascend or descend integrally, so that the conical teeth 451 can be properly inserted into the cable wrapping plastic layer when the cable passes through the driving toothed roller 45 with the height, and after the adjustment is completed, the height of the driving toothed roller 45 is kept unchanged when the cable with the same diameter is conveyed.

As shown in fig. 2, 4, 6 and 8, the second support plate 12 is equipped with a skinning knife mechanism 5 on the side facing away from the first support plate 11. The skinning knife mechanism 5 comprises a lifting adjusting component 51 fixedly arranged on a second support plate 12, the lifting adjusting component 51 comprises a lifting motion 21274shaped plate 512, the lifting adjusting component 51 further comprises a third lifting cylinder 511 vertically welded on the second support plate 12 through a fixing plate, the 21274shaped plate 512 is fixedly arranged at the output end of the third lifting cylinder 511 through a bolt, the opening end of the shaped plate 512 faces upwards, the 21274is horizontally and symmetrically provided with adjustable skinning knife components 52 distributed at two sides of the skinning avoiding hole 121, the adjustable skinning knife components 52 comprise skinning knives 523 horizontally and movably adjustable in the direction vertical to the guiding direction of the lower support guide channel beam 13, the adjustable skinning knife components 52 further comprise adjusting screw rods 521 and guide rods 523, the adjusting screw rods 521 are horizontally and rotatably connected with the skinning knives 523 and are in threaded connection with the 21274512, the guide rods 522 and the skinning plates 512 are horizontally and slidably arranged, and one ends of the skinning knives are welded on the skinning knives; the cutting edge of the peeling knife 523 is horizontally arranged and faces the second support plate 12, the peeling knife 523 is of a mirror symmetry structure symmetrical about the horizontal plane, and the upper end face of the peeling knife 523 gradually rises from the cutting edge along the vertical direction extending height far away from the surface of the second support plate 12. The upper end face and the lower end face of the peeling knife 523 are symmetrically provided with L-shaped material limiting plates 5231, the material limiting plates 5231 are close to one end far away from the cutting edge of the peeling knife 523, the material limiting plates 5231 positioned on the upper end face are arranged in an inverted mode, and the bayonets of the material limiting plates 5231 face the peeling knife 523 on the other side.

Before formal peeling treatment processing, the peeling knife mechanism 5 needs to be adjusted according to the size characteristics of a cable to be peeled, because the position of the cable guided and conveyed along the lower supporting guide groove beam 13 is determined, on one hand, the third lifting cylinder 511 is started to drive the 21274shaped plate 512 to lift, so that the two adjustable peeling knife assemblies 52 lift synchronously, and after lifting adjustment, the cutting edges of the two peeling knives 523 are basically positioned at the horizontal diameter position of the cable, namely, the outer plastic layer of the cable can be equally peeled off under the matching of the two peeling knives 523, and in addition, the horizontal position of the peeling knife 523 is adjusted by rotating the adjusting screw 521, so that the cutting edges of the peeling knives 523 can cover the thickness of the outer plastic layer of the cable, and the cable can be cut and peeled off.

Under the relay pushing of the secondary driving feeding mechanism 4, the cable passes through the peeling avoiding hole 121 and passes through the peeling knife mechanism 5, under the cooperation of the two peeling knives 523, the outer wrapping plastic layer of the cable is cut and peeled in half, the metal wire on the inner layer can pass through the space between the two peeling knives 523, the outer wrapping plastic layer which is peeled in half and half respectively passes through the upper end surface and the lower end surface of the peeling knife 523, under the guidance of the end surface profile of the peeling knife 523, the two sections of outer wrapping plastic layer which are peeled in half and half are completely peeled and separated, and the two sections of outer wrapping plastic layer positioned on the upper part and the lower part respectively pass through the upper limiting plate 5231 and the lower limiting plate 5231.

The other mechanical arm of the double-arm robot is arranged close to one side of the peeling knife mechanism 5, and when the approaching cable is conveyed to the tail end, namely the secondary driving feeding mechanism 4 cannot continue conveying, the mechanical arm at the position can pull the cable to enable the whole cable to be completely separated.

Those skilled in the art will appreciate that variations may be implemented by those skilled in the art in combination with the prior art and the above-described embodiments, and will not be described in detail herein. Such variations do not affect the essence of the present invention and are not described herein.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in which devices and structures not described in detail are understood to be implemented in a manner that is conventional in the art; it will be understood by those skilled in the art that various changes and modifications may be made, or equivalents may be modified, without departing from the spirit of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (10)

1. A power wire and cable peeling device based on a double-arm robot is arranged between two mechanical arms of the double-arm robot and comprises a fixed base (1), wherein a first support plate (11) and a second support plate (12) are arranged on the fixed base (1); the method is characterized in that: the first supporting plate (11) is fixedly provided with a dial feeding device (2); wherein:

the dial-up feeding device (2) comprises a central cylinder (21) which is horizontally installed and used for collecting cables in a centralized manner in the cylinder, one cylinder end of one side of the central cylinder (21) is open, the other cylinder end of the central cylinder is fixedly provided with a disc back plate (211), the disc back plate (211) is fixed on a first supporting plate (11), a guide groove (213) is arranged at the right upper end of the outer side wall of the central cylinder (21), the guide groove (213) axially penetrates through the open end of the central cylinder (21) and extends to the disc back plate (211), a blanking notch (212) is arranged at the right lower end of the side wall of the central cylinder (21), and a cable stirring mechanism (22) used for promoting the cables collected in the central cylinder (21) to penetrate through the blanking notch (212) through stirring is assembled on the disc back plate (211); the disc back plate (211) is fixedly provided with a dial-up conveying mechanism (23) arranged on the periphery of the central cylinder (21), the dial-up conveying mechanism (23) comprises a dial-up barrel (233) which is coaxially and rotationally driven around the central shaft of the central cylinder (21), and the dial-up barrel (233) is used for driving a cable passing through the blanking gap (212) to be dialed into the guide groove (213); a skinning knife mechanism (5) is assembled on the second supporting plate (12), and a driving feeding mechanism is assembled between the poking and rotating feeding device (2) and the skinning knife mechanism (5).

2. The electric power wire and cable peeling apparatus based on the double-arm robot as claimed in claim 1, wherein: a peeling avoiding hole (121) is formed in the second support plate (12) and is horizontally opposite to the guide groove (213), a lower supporting guide groove beam (13) is horizontally and fixedly connected between the first support plate (11) and the second support plate (12), and two ends of the lower supporting guide groove beam (13) are respectively arranged opposite to the penetrating hole of the guide groove (213) in the disc back plate (211) and the peeling avoiding hole (121).

3. The electric power wire and cable peeling apparatus based on the double-arm robot as claimed in claim 1, wherein: the cable stirring mechanism (22) comprises a stirring motor (221) fixedly arranged on the outer end face of the disc back plate (211), a rotary disc (222) fixed on an output shaft of the stirring motor (221) and a stirring rod (223) vertically fixed on the disc face of the rotary disc (222); the turntable (222) is located within the central cylinder (21).

4. The electric power wire and cable stripping apparatus based on the double-arm robot as claimed in claim 1, wherein: the poking rotary drum (233) comprises a main poking rotary drum (234) and an auxiliary poking rotary drum (235) which is coaxially and fixedly installed with the main poking rotary drum (234), wherein the main poking rotary drum (234) is close to a disc back plate (211), two ends of the main poking rotary drum (234) are oppositely provided with four groups of clamping notches (2341) of U-shaped structures, the four groups of clamping notches (2341) are uniformly distributed in the circumferential direction of the main poking rotary drum (234), and a position avoiding window (2342) is formed in the side wall of the main poking rotary drum (234) and located between each group of two clamping notches (2341).

5. The electric power wire and cable stripping device based on the double-arm robot as claimed in claim 4, wherein: four material supporting grooves (2351) extending to two ends along the axial direction are arranged on the inner wall of the auxiliary shifting drum (235), the four material supporting grooves (2351) and four material clamping gaps (2341) are arranged in a one-to-one correspondence manner, and the outline of each material supporting groove (2351) is coincided with the outline of each material clamping gap (2341) in the opposite position.

6. The electric power wire and cable peeling apparatus based on the double-arm robot as claimed in claim 4, wherein: the poking and conveying mechanism (23) further comprises a rotary bearing (231) fixedly installed on the disc back plate (211), one end of the main poking rotary cylinder (234) is fixedly connected to a rotating part of the rotary bearing (231), and a poking and driving motor (232) for driving the rotary bearing (231) to rotate is fixedly installed on the first supporting plate (11).

7. The electric power wire and cable stripping apparatus based on the double-arm robot as claimed in claim 2, wherein: drive feeding mechanism includes one-level drive feeding mechanism (3) and second grade drive feeding mechanism (4), one-level drive feeding mechanism (3) are fixed disc backplate (211) are gone up and are located the top of guiding groove (213), second grade drive feeding mechanism (4) are fixed and are located on No. two backup pads (12) hold in the palm the top of guiding groove roof beam (13) down.

8. The electric power wire and cable stripping apparatus based on the double-arm robot as claimed in claim 2, wherein: the peeling knife mechanism (5) comprises a lifting adjusting component (51) fixedly mounted on a second support plate (12), the lifting adjusting component (51) comprises a v-21274plate (512) which moves up and down, the front side of an opening end of the v-21274plate (512) faces upwards, adjustable peeling knife components (52) distributed on two sides of a peeling avoiding hole (121) are horizontally and symmetrically arranged on the v-21274plate (512), the adjustable peeling knife components (52) comprise peeling knives (523) which can horizontally move and be adjusted in a direction vertical to the guide direction of a lower supporting guide groove beam (13), and cutting edges of the peeling knives (523) are horizontally arranged and face the second support plate (12).

9. The electric power wire and cable stripping apparatus based on the double-arm robot as claimed in claim 8, wherein: the peeling knife (523) is of a mirror symmetry structure which is symmetrical about a horizontal plane, and the upper end face of the peeling knife (523) is gradually raised along the vertical direction extending height far away from the board face of the second support board (12) from the cutting edge position.

10. The electric power wire and cable peeling apparatus based on the double-arm robot as claimed in claim 9, wherein: the peeling knife is characterized in that L-shaped material limiting plates (5231) are symmetrically arranged on the upper end surface and the lower end surface of the peeling knife (523), the material limiting plates (5231) are close to one end far away from the cutting edge of the peeling knife (523), the material limiting plates (5231) on the upper end surface are arranged in an inverted mode, and the bayonets of the material limiting plates (5231) face to the peeling knife (523) on the other side.

Images